ROS发布图片和视频帧 python版本

#!/usr/bin/env python
#coding:utf-8

import rospy
import sys
sys.path.append('.')
import cv2
import os
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

def pubVideo():
    rospy.init_node('pubVideo',anonymous = True)
    pub = rospy.Publisher('/camera/rgb/image_raw', Image, queue_size = 10)
    rate = rospy.Rate(10)
    path = "your_video_path"
    cap = cv2.VideoCapture(path)
    scaling_factor = 0.5
    bridge = CvBridge()
    if not cap.isOpened():
        sys.stdout.write("vedio is not available !")
        return -1
    count = 0
    while not rospy.is_shutdown():
        ret, frame = cap.read()
        if ret:
            count = count + 1
        else:
            rospy.loginfo("Capturing image failed.")
        if count == 2:
            count = 0
            frame = cv2.resize(frame,None,fx=scaling_factor,fy=scaling_factor,interpolation=cv2.INTER_AREA)
            msg = bridge.cv2_to_imgmsg(frame, encoding="bgr8")
            pub.publish(msg)
            print('** publishing webcam_frame ***')	
        rate.sleep()
       
if __name__ == '__main__':
    try:
        pubVideo()
    except rospy.ROSInterruptException:
        pass

这个是发布视频的

#!/usr/bin/env python
#coding:utf-8

import rospy
import sys
sys.path.append('.')
import cv2
import os
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

def pubImage():
    rospy.init_node('pubLocalImage1',anonymous = True)
    pub = rospy.Publisher('/camera/rgb/image_raw', Image, queue_size = 10)
    rate = rospy.Rate(10)
    bridge = CvBridge()
    gt_imdb = []
    #path是我存放图片的文件夹
    path = "yourpath"
    for item in os.listdir(path):
        gt_imdb.append(os.path.join(path,item))
    while not rospy.is_shutdown():
        for imagepath in gt_imdb:
            image = cv2.imread(imagepath)
            image = cv2.resize(image,(1920,1200))
            pub.publish(bridge.cv2_to_imgmsg(image,"bgr8"))
            #cv2.imshow("lala",image)
            cv2.waitKey(5)
            rate.sleep()

if __name__ == '__main__':
    try:
        pubImage()
    except rospy.ROSInterruptException:
        pass

这个是发布图片的,path填写你的图片文件夹